Systems, methods and apparatus for multi-row agricultural implement control and monitoring

ABSTRACT

Systems, methods and apparatus are provided for monitoring and controlling an agricultural implement, including seed planting implements. Systems, methods and apparatus are provided for detecting seeds being conveyed by seed conveyor. Systems, methods and apparatus are provided for monitoring and controlling deposition of secondary crop inputs such as fertilizer and insecticide.

BACKGROUND

As growers in recent years have increasingly incorporated additionalsensors and controllers on agricultural implements such as row cropplanters, the control and monitoring systems for such implements havegrown increasingly complex. Installation and maintenance of such systemshave become increasingly difficult. Thus there is a need in the art foreffective control and monitoring of such systems. In planting implementsincorporating seed conveyors and/or secondary crop input meteringsystems such as insecticide and fertilizer meters, special control andmonitoring challenges arise; thus there is also a particular need foreffective seed counting and effective incorporation of the seed conveyorand/or secondary crop input metering system into the implement controland monitoring system.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically illustrates an embodiment of an electrical controlsystem for controlling and monitoring an agricultural implement having aplurality of rows.

FIG. 2 schematically illustrates an embodiment of a multi-row controlmodule.

FIG. 3 schematically illustrates an embodiment of a drive module.

FIG. 4 schematically illustrates an embodiment of a conveyor module.

FIG. 5A is a side elevation view of a planter row unit including a seedtube and incorporating an embodiment of an electronic control system.

FIG. 5B is a side elevation view of a planter row unit including a seedconveyor and incorporating another embodiment of an electronic controlsystem.

FIG. 6A schematically illustrates another embodiment of an electricalcontrol system including a modular extension at each row.

FIG. 6B schematically illustrates the electrical control system of FIG.6A with a conveyor module installed at each row.

FIG. 7 illustrates an embodiment of a process for transmittingidentification and configuration data to a multi-row control module andto a row control module.

FIG. 8 illustrates an embodiment of a process for controlling a drivemodule.

FIG. 9 illustrates an embodiment of a process for controlling a conveyormodule.

FIG. 10A is a perspective view of an embodiment of a seed meterincorporating an embodiment of a drive module.

FIG. 10B is a perspective view of the seed meter and drive module ofFIG. 10A with several covers removed for clarity.

FIG. 11A is a bottom view of the drive module of FIG. 10A.

FIG. 11B is a side elevation view of the drive module of FIG. 10A.

FIG. 12A is a bottom view of the drive module of FIG. 10A with twocovers and a housing removed for clarity.

FIG. 12B is a side elevation view of the drive module of FIG. 10A withtwo covers and a housing removed for clarity.

FIG. 13A is a front view of the drive module of FIG. 10A.

FIG. 13B is a rear view of the drive module of FIG. 10A.

FIG. 14A is a front view of the drive module of FIG. 10A with two coversand a housing removed for clarity.

FIG. 14B is a rear view of the drive module of FIG. 10A with two coversand a housing removed for clarity.

FIG. 15 is a perspective view of the drive module of FIG. 10A with twocovers and a housing removed for clarity.

FIG. 16 schematically illustrates another embodiment of an electricalcontrol system for controlling and monitoring an agricultural implementhaving a plurality of rows.

FIG. 17 illustrates an embodiment of a process for counting seeds usingtwo optical sensors associated with a seed conveyor.

FIG. 18 illustrates exemplary signals generated by optical sensorsassociated with a seed conveyor.

FIG. 19 illustrates an embodiment of a single-row network.

FIG. 20 is an exploded view of a drive assembly for metering anadditional crop input with an additional drive module.

FIG. 21 is an unexploded perspective view of the drive assembly of FIG.20.

FIG. 22 schematically illustrates a row unit incorporating an additionaldrive module for metering an additional drive input.

DESCRIPTION

Referring now to the drawings, wherein like reference numerals designateidentical or corresponding parts throughout the several views, FIG. 1schematically illustrates an agricultural implement, e.g., a planter,comprising a toolbar 14 operatively supporting six row units 500. Thetoolbar 14 is supported by left and right implement wheels 520 a,520 band drawn by a tractor 5. A control system 100 includes a monitor 110preferably mounted in the tractor 5, an implement network 135, and tworow networks 130 a, 130 b.

The monitor 110 preferably includes a graphical user interface (“GUI”)112, a memory 114, a central processing unit (“CPU”) 116, and a bus node118. The bus node 118 preferably comprises a controller area network(“CAN”) node including a CAN transceiver, a controller, and a processor.The monitor 110 is preferably in electrical communication with a speedsensor 168 (e.g., a radar speed sensor mounted to the tractor 5) and aglobal positioning receiver (“GPS”) receiver 166 mounted to the tractor5 (or in some embodiments to the toolbar 14).

The implement network 135 preferably includes an implement bus 150 and acentral processor 120. The central processor 120 is preferably mountedto the toolbar 14. Each bus described herein is preferably a CAN busincluded within a harness which connects each module on the bus topower, ground, and bus signal lines (e.g., CAN-Hi and CAN-Lo).

The central processor 120 preferably includes a memory 124, a CPU 126,and a bus node 128 (preferably a CAN node including a CAN transceiver, acontroller, and a processor). The implement bus 150 preferably comprisesa CAN bus. The monitor 110 is preferably in electrical communicationwith the implement bus 150. The central processor 120 is preferably inelectrical communication with wheel speed sensors 164 a,164 b (e.g.,Hall-effect speed sensors) mounted to the left and right implementwheels 520 a, 520 b, respectively. The central processor 120 ispreferably in electrical communication with a gyroscope 162 mounted tothe toolbar 14.

Row Networks—Overview

Each row network 130 preferably includes a multi-row control module 200mounted to one of the row units 500, a row bus 250, three drive modules300 individually mounted to three row units 500, and three conveyormodules 400 individually mounted to three row units 500 respectively.Each row unit 500 having at least a drive module 300 in a particular rowunit network 130 is described herein as being “within” that row network.

Row Networks—Multi-Row Control Module

Turning to FIG. 2, the multi-row control module 200 preferably includesa bus node 202 (preferably a CAN node including a CAN transceiver, acontroller, and a processor). The CAN node, specifically the CANtransceiver, is preferably in electrical communication with the row bus250 and the implement bus 150. The multi-row control module 200 furtherincludes a memory 214 and a processor 204 in electrical communicationwith a downforce signal conditioning chip 206, a seed sensor auxiliaryinput 208, a downforce solenoid pulse-width modulation (“PWM”) driver210, and generic auxiliary inputs 212. The auxiliary inputs 212 arepreferably configured for electrical communication with sensorsincluding a pressure sensor and a lift switch. The downforce signalconditioning chip 206 is preferably in electrical communication with adownforce sensor 506 on each row unit 500 within the implement network135. The downforce solenoid PWM driver 210 is preferably in electricalcommunication with a downforce solenoid 510 on each row unit within therow network 130. In embodiments including a seed tube (described in moredetail herein with respect to FIG. 5A), the seed sensor auxiliary input208 is preferably in electrical communication with a seed sensor 508(e.g., an optical sensor) on each row unit 500 within the row network130.

Row Networks—Drive Module

Turning to FIG. 3, the drive module 300 preferably includes circuitboard 301, a motor encoder 576, and a meter drive motor 578. The circuitboard 301 preferably includes a bus node 302 (preferably a CAN nodeincluding a CAN transceiver, a controller, and a processor). The CANnode, specifically the CAN transceiver, is preferably in electricalcommunication with the row bus 250. The drive module 300 preferablyfurther includes a memory 306 and a processor 304 in electricalcommunication with a motor encoder signal conditioning chip 316, a motorPWM driver 318, and a motor current signal conditioning chip 314. Themotor PWM driver 318 is preferably in electrical communication with amotor 578 for controlling an output speed of the motor 578. The motorencoder signal conditioning chip 316 is preferably in electricalcommunication with the motor encoder 576, which is preferably configuredto generate a signal indicative of driving speed of the motor 570, e.g.,by generating a defined number of encoder pulses per motor shaftrotation. The motor current signal conditioning chip 314 is preferablyin electrical communication with the motor PWM driver 318 far samplingthe actual current driving the motor 578.

Referring to FIGS. 10A and 10B, the drive module 300 comprises anelectrical assembly 340 and motor 578 shielded by a cover 304 and agearbox 320 shielded by a cover 302. The drive module 300 is mounted toa seed meter 530. The seed meter is preferably of the type disclosed inApplicant's co-pending international patent application no.PCT/US2012/030192, the disclosure of which is hereby incorporated hereinin its entirety by reference. Specifically, the drive module 300 ispreferably mounted to a cover 532 shielding a seed disc 534 housedwithin the meter 530. The gearbox 320 includes an output gear 312adapted to drive the seed disc 534 by sequential engagement with gearteeth arranged circumferentially around a perimeter of the seed disc534.

Turning to FIGS. 11A and 11B, the drive module 300 further includes ahousing 308 to which the covers 302,304 are mounted. The cover 302preferably includes rubber grommet 305 for introducing electrical leadsinto the cover 302.

Turning to FIGS. 12A, 12B, 14A, 14B, and 15, the gearbox 320 includes aninput shaft 325 and input gear 324 driven by the motor 578. The inputgear drives a first step-down gear 326 and a second step-down gear 328.The second step-down gear 328 preferably has a smaller diameter than thefirst step-down gear 326. The second step-down gear 328 is preferablymounted coaxially to the first step-down gear 326, e.g., by pressfitting. The second step-down gear 328 preferably drives an intermediategear 322. The intermediate gear 322 drives the output gear 312 via ashaft 321.

Continuing to refer to FIGS. 12A, 12B, 14A, 14B, and 15, the electricalassembly 340 includes the circuit board 301, the motor encoder 576(preferably including a magnetic encoder disc), and two leads 344 a,344b in electrical communication with the motor 578 for driving the motor.

Referring to FIGS. 13A and 13B, the drive module 300 preferably includesmounting tabs 382,384,386,388 for mounting the drive module 300 to theseed meter 530 (e.g., by screws adapted to mate with threaded aperturesin the cover 532).

Row Networks—Conveyor Module

Turning to FIG. 4, the conveyor module 400 preferably includes a busnode 402 (preferably a CAN node including a CAN transceiver, acontroller, and a processor). The CAN node, specifically the CANtransceiver, is preferably in electrical communication with the row bus250. The conveyor module 400 preferably further includes a memory 406and a processor 404 in electrical communication with a motor encodersignal conditioning chip 422, a motor PWM driver 448, and signalconditioning chips 432,434. The motor PWM driver 448 is in electricalcommunication with a conveyor motor 590 mounted to a conveyor 580. Insome embodiments, the motor encoder signal conditioning chip 422 is inelectrical communication with a motor encoder 597 disposed to measure anoperating speed of the conveyor motor 590. The signal conditioning chips432,434 are preferably in electrical communication with optical sensors582,584, respectively.

Implementation on Planter Row Units

Referring to FIG. 5A, a planter row unit 500 is illustrated withcomponents of the control system 100 installed. The row unit 500illustrated in FIG. 5A is one of the row units to which a multi-rowcontrol module 200 is mounted.

In the row unit 500, a downforce actuator 510 (preferably a hydrauliccylinder) is mounted to the toolbar 14. The downforce actuator 510 ispivotally connected at a lower end to a parallel linkage 516. Theparallel linkage 516 supports the row unit 500 from the toolbar 14,permitting each row unit to move vertically independently of the toolbarand the other spaced row units in order to accommodate changes interrain or upon the row unit encountering a rock or other obstruction asthe planter is drawn through the field. Each row unit 500 furtherincludes a mounting bracket 520 to which is mounted a hopper supportbeam 522 and a subframe 524. The hopper support beam 522 supports a seedhopper 526 and a fertilizer hopper 528 as well as operably supporting aseed meter 530 and a seed tube 532. The subframe 524 operably supports afurrow opening assembly 534 and a furrow closing assembly 536.

In operation of the row unit 500, the furrow opening assembly 534 cuts afurrow 38 into the soil surface 40 as the planter is drawn through thefield. The seed hopper 526, which holds the seeds to be planted,communicates a constant supply of seeds 42 to the seed meter 530. Thedrive module 300 is preferably mounted to the seed meter 530 asdescribed elsewhere herein. As the drive module 300 drives the seedmeter 530, individual seeds 42 are metered and discharged into the seedtube 532 at regularly spaced intervals based on the seed populationdesired and the speed at which the planter is drawn through the field.The seed sensor 508, preferably an optical sensor, is supported by theseed tube 532 and disposed to detect the presence of seeds 42 as theypass. The seed 42 drops from the end of the seed tube 532 into thefurrow 38 and the seeds 42 are covered with soil by the closing wheelassembly 536.

The furrow opening assembly 534 preferably includes a pair of furrowopening disk blades 544 and a pair of gauge wheels 548 selectivelyvertically adjustable relative to the disk blades 544 by a depthadjusting mechanism 568. The depth adjusting mechanism 568 preferablypivots about a downforce sensor 506, which preferably comprises a pininstrumented with strain gauges for measuring the force exerted on thegauge wheels 548 by the soil 40. The downforce sensor 506 is preferablyof the type disclosed in Applicant's co-pending U.S. patent applicationSer. No. 12/522,253, the disclosure of which is hereby incorporatedherein in its entirety by reference. In other embodiments, the downforcesensor is of the types disclosed in U.S. Pat. No. 6,389,999, thedisclosure of which is hereby incorporated herein in its entirety byreference. The disk blades 544 are rotatably supported on a shank 554depending from the subframe 524. Gauge wheel arms 560 pivotally supportthe gauge wheels 548 from the subframe 524. The gauge wheels 548 arerotatably mounted to the forwardly extending gauge wheel arms 560.

It should be appreciated that the row unit illustrated in FIG. 5A doesnot include a conveyor 580 such that a conveyor module 400 is notrequired. Turning to FIG. 5B, a planter row unit 500′ including aconveyor 580 is illustrated with components of the control system 100installed.

The row unit 500′ is similar to the row unit 500 described above, exceptthat the seed tube 532 has been removed and replaced with a conveyor 580configured to convey seeds at a controlled rate from the meter 530 tothe furrow 42. The conveyor motor 590 is preferably mounted to theconveyor 580 and is configured to selectively drive the conveyor 580.The conveyor 580 is preferably one of the types disclosed in Applicant'sU.S. patent application No. 61/539,786 and Applicant's co-pendinginternational patent application no. PCT/US2012/057327, the disclosuresof which are hereby incorporated herein in their entirety by reference.As disclosed in that application, the conveyor 580 preferably includes abelt 587 including flights 588 configured to convey seeds received fromthe seed meter 530 to a lower end of the conveyor. On the view of FIG.5B, the seed conveyor 580 is preferably configured to drive the belt 587in a clockwise direction. On the view of FIG. 5B, the seed conveyor 580is preferably configured to guide seeds from an upper end of theconveyor down a forward side of the conveyor, such that seeds descendwith flights 588 of the belt 587 on forward side of the conveyor 580 andare deposited from the lower end of the conveyor such that no seeds arepresent on flights 588 ascending the rearward side of the conveyorduring normal operation. The optical sensor 582 is preferably mounted tothe forward side of the conveyor 580 and disposed to detect seeds anddescending conveyor flights 588 as they pass. The optical sensor 584 ispreferably mounted to the rearward side of the conveyor 580 and disposedto detect ascending conveyor flights 588 as they return to the meter530. In other embodiments the optical sensor 582 and/or the opticalsensor 584 may be replaced with other object sensors configured todetect the presence of seeds and/or flights, such as an electromagneticsensor as disclosed in Applicant's co-pending U.S. patent applicationSer. No. 12/984,263 (Pub. No. US2012/0169353).

Addition of Modular Components

Comparing the embodiments of FIGS. 5A and 5B, it should be appreciatedthat some embodiments of control system 100 require a conveyor module400 while some do not. Thus row buses 250 are preferably configured toallow the user to install one or more additional CAN modules withoutreplacing or modifying the row buses 250.

Referring to FIG. 6A, a modified control system 100′ includes modifiedrow buses 250′ having a modular extension 600 at each row. Each modularextension 600 preferably includes a first drop 610 and a second drop620. Each drop 610, 620 preferably includes connections to power, groundand the bus signal lines (e.g., CAN Hi and CAN Lo).

Turning to FIG. 6B, a modified control system 100″ differs from controlsystem 100′ in that a conveyor module 400 has been connected to thefirst drop 610 of each modular extension 600. It should be appreciatedthat the second drop 620 is still available to add further modules tothe row networks 130.

Operation—Configuration Phase

In order to effectively operate the control system 100 of FIG. 1, eachmodule is preferably configured to determine its identity (e.g., the rowunit or row units 500 with which it is associated) and certainconfiguration data such as the relative location of its associated rowunit. Thus in operation of the control system 100, a configurationprocess 700 (FIG. 7) is preferably carried out to identify the modulesand transmit configuration data to each module. At step 705, the monitor110 preferably sends a first identification signal to the multi-rowcontrol module 200 a via a point-to-point connection 160. The multi-rowcontrol module 200 a preferably stores identification data (e.g.,indicating its status as the leftmost multi-row control module) inmemory. Continuing to refer to step 705, the multi-row control module200 a preferably sends a second identification signal to the multi-rowcontrol module 200 b via a point-to-point electrical connection 161. Themulti-row control module 200 b preferably stores identification data(e.g., indicating its status as the rightmost multi-row control module)in memory.

At step 710, each row module (e.g., each drive module 300 and eachconveyor module 400) preferably determines the row unit 500 with whichit is associated based on the voltage on an identification line (notshown) connecting the row module to the row bus 150. For example, threeidentification lines leading to the drive modules 300-1,300-2,300-3 arepreferably connected to ground, a midrange voltage, and a high voltage,respectively.

At step 715, the monitor 110 preferably transmits row-network-specificconfiguration data to each multi-row control module 200 via theimplement bus 150. For example, the configuration data preferablyincludes transverse and travel-direction distances from each row unit500 to the GPS receiver 166 and to the center of the toolbar 14 (“GPSoffsets”); the row-network-specific GPS offsets sent to multi-rowcontrol module 200 a at step 715 preferably corresponds to the row units500-1,500-2,500-3 within the row network 130 a. At step 720, eachmulti-row control module 200 preferably transmits row-unit-specificconfiguration data to each row control module (e.g, the drive modules300) via the row buses 250. For example, the multi-row control module200 a preferably sends GPS offsets corresponding to row unit 500-1 tothe drive module 300-1.

Operation—Drive Module Control

Turning to FIG. 8, the control system 100 preferably controls each drivemodule 300 according to a process 800. At step 805, the monitor 110preferably transmits an input prescription (e.g., a number of seeds peracre to be planted) to each multi-row control module 200 via theimplement bus 150 of the implement network 135. At step 810, the variouskinematic sensors in the control system 100 transmit kinematic signalsto the central processor 120. For example, wheel speed sensors 164 andgyro 162 send speed signals and angular velocity signals, respectively,to the central processor 120 via point-to-point electrical connections.In some embodiments the monitor 110 also sends the speed reported by thespeed sensor 168 to the central processor 120 via the implement bus 150,which speed is sent to the central processor 120 via the implement bus150.

At step 815, the central processor 120 preferably calculates the speedof the center of the toolbar 14 and the angular velocity of the toolbar14. The speed Sc of the center of the toolbar may be calculated byaveraging the wheel speeds Swa,Swb reported by the wheel speed sensors164 a,164 b, respectively or using the tractor speed reported by thespeed sensor 168. The angular velocity w of the toolbar 14 may bedetermined from an angular velocity signal generated by the gyroscope162 or by using the equation:

$w = \frac{S_{wa} - S_{wb}}{D_{wa} + D_{wb}}$

Where:

-   -   Dwa=The lateral offset between the center of the toolbar and the        left implement wheel 520 a, and    -   Dwb=The lateral offset between the center of the toolbar and the        right implement wheel 520 b.

At step 820, the central processor 120 preferably transmits the planterspeed and angular velocity to each multi-row control module 200 via theimplement bus 150 of the implement network 135.

At step 825, each multi-row control module 200 preferably determines ameter speed command (e.g., a desired number of meter rotations persecond) for each drive module within its row network 130. The meterspeed command for each row unit 500 is preferably calculated based on arow-specific speed Sr of the row unit. The row-specific speed Sr ispreferably calculated using the speed Sc of the center of the toolbar,the angular velocity w and the transverse distance Dr between the seedtube (or conveyor) of the row unit from the center of the planter(preferably included in the configuration data discussed in FIG. 7)using the relation:

S _(r) =S _(c) +w×D _(r)

The meter speed command R may be calculated based on the individual rowspeed using the following equation:

${R\left( \frac{rotations}{second} \right)} = \frac{{{Population}\left( \frac{seeds}{acre} \right)} \times {Row}\mspace{14mu} {{Spacing}({ft})} \times {S_{r}\left( \frac{ft}{s} \right)}}{{Meter}\mspace{14mu} {{Ratio}\left( \frac{seeds}{rotation} \right)} \times 43,500\left( \frac{{ft}^{2}}{acre} \right)}$

Where:

-   -   Meter Ratio=The number of seed holes in the seed disc 534, and    -   Row Spacing=The transverse spacing between row units 500.

At step 830, the multi-row control module 200 preferably transmits themeter speed command determined for each drive module 300 to therespective drive module via the row bus 250 of the row network 130. Inembodiments in which the row bus 250 comprises a CAN bus, the multi-rowcontrol module 200 preferably transmits a frame to the row bus having anidentifier field specifying a drive module 300 (e.g., module 300-2) anda data field including the meter speed command for the specified drivemodule.

At step 835, the drive module 300 preferably compares the meter speedcommand R to a measured meter speed. The drive module 300 preferablycalculates the measured meter speed using the time between encoderpulses received from the motor encoder 576. At step 840, the drivemodule 300 preferably adjusts a voltage used to drive the meter 530 inorder to adjust the measured meter speed closer to the meter speedcommand R.

At step 845, each seed sensor sends seed pulses to the associatedmulti-row control module 200. In embodiments including a seed tube 532,each seed sensor 508 preferably sends seed pulses to the associatedmulti-row control module 200 via point-to-point electrical connections.In embodiments including a seed tube 532, seed pulses preferablycomprise signal pulses having maximum values exceeding a predeterminedthreshold. In some embodiments including a seed conveyor 580, each seedsensor 582 preferably sends seed pulses to the associated multi-rowcontrol module 200 via the implement bus 250 of the row network 130. Inembodiments including a seed conveyor 580, the seed pulses comprisesignal pulses that differ by a predetermined threshold from signalpulses caused by passing flights of the conveyor. Alternative methods ofdetecting seeds in a seed conveyor 580 are described later herein.

At step 850, the multi-row control module 200 preferably calculates thepopulation, singulation and seed spacing at each row unit 500 within therow network 130 using the row speed Sr and the seed pulses transmittedfrom each row unit within the row network. At step 855, the multi-rowmodule 200 transmits the population, singulation and spacing values tothe central processor 120 via the implement bus 150 of the implementnetwork 130. At step 860, the central processor 120 preferably transmitsthe population, singulation and spacing values to the monitor 110 viathe implement bus 150 of the implement network 135.

Operation—Conveyor Module Control

Turning to FIG. 9, the control system 100 preferably controls eachconveyor module 400 according to a process 900. At steps 910 through920, control system 100 preferably performs the same steps describedwith respect to steps 810 through 820 of process 800. At step 925, eachmulti-row control module 200 preferably determines a conveyor speedcommand for each conveyor module 400 within the row network 130. Theconveyor speed command is preferably selected such that a linear speedof flights traveling down the conveyor is approximately equal to therow-specific speed Sr; e.g., the conveyor motor speed command ispreferably equal to the row-specific speed Sr multiplied by apredetermined constant. At step 930, the multi-row control module 200preferably transmits individual conveyor speed commands to eachcorresponding conveyor module 400 via the row bus 250 of the row network130.

At step 935, the conveyor module 400 preferably compares the conveyorspeed command to a measured conveyor speed. In some embodiments, theconveyor speed is measured using the time between flight pulsesresulting from conveyor flights passing the optical sensor 584. In otherembodiments, the conveyor speed is measured using the time betweenencoder pulses received from the conveyor motor encoder 597. At step940, the conveyor module 400 preferably adjusts a voltage used to drivethe conveyor motor 590 in order to adjust the measured meter speedcloser to the conveyor speed command.

At steps 945 through 960, the conveyor module 400 preferably performsthe same steps 845 through 860 described herein with respect to process800, specifically as those steps are described for embodiments includinga conveyor 580.

Seed Sensing Methods

In embodiments including a seed conveyor 580, the control system 100 ispreferably configured to count seeds, time-stamp seeds, and determine aseeding rate based on the signals generated by the first and secondoptical sensors 582, 584. It should be appreciated that in normaloperation, the first optical sensor 582 detects both seeds and conveyorflights as the seeds from the meter 530 descend the conveyor 580, whilethe second optical sensor 584 detects only conveyor flights as theyreturn to the top of the conveyor after seeds are deposited. The shapeand size of flights in the conveyor 580 are preferably substantiallyconsistent.

Referring to FIG. 17, the monitor 110 (or in some embodiments thecentral processor 120) is preferably configured to carry out a process1700 for detecting seeds. At step 1710, the monitor 110 preferablyreceives signals from both the first optical sensor 582 and the secondoptical sensor 584 over a measuring period. A first optical sensorsignal 1810 (in which amplitude increases when either flights or seedspass) and a second optical sensor signal 1820 (in which amplitudeincreases when flights pass) are illustrated on an exemplarymulti-signal graph 1800 in FIG. 18. At step 1715, the control system 100preferably changes the conveyor speed during the measuring period suchthat the length of signal pulses resulting from belts having the samelength (as best illustrated by viewing the varying-width pulses in thesensor signal 1820). At step 1720, the monitor 110 preferably applies atime shift Ts (e.g., the time shift Ts illustrated in FIG. 18) to thesecond optical sensor signal 1820, resulting in a time-shifted sensorsignal 1820′. The time shift Ts is related to the conveyor speed and ispreferably calculated as follows:

Ts=k×Tf

Where:

-   -   Tf=Average time between flights detected by the second optical        sensor 258    -   k=A constant value preferably determined as described below.

The value of k is related to the conveyor and optical sensor geometryand in some embodiments is determined as follows:

$k = {{Tf} \times {{DEC}\left( \frac{Ds}{Df} \right)}}$

Where:

-   -   Ds=Linear flight distance between the first and second optical        sensors    -   Df=Distance between flights    -   DEC(x) returns the decimal portion of x (e.g., DEC(105.2)=0.2).

In other embodiments, the monitor 110 preferably calculates kempirically in a setup stage while seeds are not being planted byrunning the conveyor 580 at a constant speed and determining the valuesof Tf and Ts; with no seeds on the belt, the value of Ts may bedetermined by measuring the time between a flight pulse at the firstoptical sensor 582 and the next subsequent flight pulse at the secondoptical sensor 584. In still other embodiments, the sensors 582, 584 arepositioned at a relative distance Ds equal to an integer multiple of Dfsuch that no time shift or a near-zero time shift is required.

Continuing to refer to the process 1700 of FIG. 17, at step 1725 themonitor 110 preferably subtracts the time-shifted second optical sensorsignal 1820′ from the first optical sensor signal 1810, resulting in aflight-corrected signal 1830 (see FIG. 18) which correlates to thesignal from the first optical sensor signal with signal pulses resultingfrom conveyor flights substantially eliminated. At step 1730 the monitor110 preferably compares pulses 1832 in the flight-corrected signal 1830to one or more seed pulse validity thresholds (e.g., a minimum amplitudethreshold and a minimum period threshold); the monitor preferablyidentifies each pulse exceeding the seed pulse validity thresholds asvalid seed event. At step 1735, the monitor 110 preferably adds theidentified seed event to a seed count. At step 1740, the monitor 110preferably stores the seed count; seeding rate (e.g., the seed countover a predetermined time period); a time associated with the seedevent, seed count, or seeding rate; and a GPS associated with the seedevent, seed count, or seeding rate to memory for mapping, display anddata storage.

Alternative Embodiments—Single Row Networks

In an alternative control system 100′″ illustrated in FIG. 16, each of aplurality of row networks 132 includes a single-row control module 202mounted to one of the row units 500, a row bus 250, a drive module 300individually mounted to the same row unit 500, and a conveyor module 400individually mounted to the same row unit 500. The single-row controlmodule 202 preferably includes equivalent components to the multi-rowcontrol module 200, except that the downforce signal conditioning chip206, seed sensor auxiliary input 208, and the downforce solenoid PWMdriver 210 are only in electrical communication with one of thecorresponding devices mounted to the same row unit 500. Additionally, inthe alternative control system 100′″ the row bus 250 is in electricalcommunication with a single drive module 300 and a single conveyormodule 400 as well as the single-row control module 202.

In still other embodiments, two seed meters 530 are mounted to a singlerow unit 500 as described in U.S. Provisional Patent Application No.61/838,141. In such embodiments, a drive module 300 is operably coupledto each seed meter 530. A row network 132′ having two drive modules 300is illustrated in FIG. 19. The row network 132′ preferably includes asingle-row control module 202, a row bus 250, a first drive module 300 a(preferably mounted to the row unit 500), a second drive module 300 b(preferably mounted to the row unit 500), a conveyor module 400, aninput controller 307 and an identification power source 309. The firstdrive module 300 a and the second drive module 300 b, including thehardware and software components, are preferably substantiallyidentical. The single-row control module 202, the first drive module 300a, the second drive module 300 b, and the conveyor module 250 arepreferably in electrical communication with the row bus 250. Thesingle-row control module 202 is preferably in electrical communicationwith an implement bus 150 of one of the control system embodimentsdescribed herein. The first drive module 300 a is preferably inelectrical communication with the identification power source 309 andthe input controller 307. The first drive module 300 a is preferably inelectrical communication with the input controller 307 via an electricalline 311. The identification power source 309 preferably supplies alow-voltage signal to the first drive module 300 a, and may comprise apoint-to-point connection to a power source including a relatively largeresistor. The input controller 307 is preferably a swath and/or ratecontroller configured to shut off and/or modify an application rate of acrop input such as (without limitation) liquid fertilizer, dryfertilizer, liquid insecticide, or dry insecticide.

In other embodiments, each row unit 500 includes an additional drivemodule 300 which drives a metering apparatus that meters out anadditional crop input (e.g., insecticide, fertilizer, or other granularor liquid crop inputs). The row unit may have common components with therow units described in U.S. Pat. Nos. 6,938,564; 7,481,171; and/or U.S.patent application Ser. No. 12/815,956, each of which is incorporatedherein in its entirety by reference. The additional drive module may beprovided on individual row units and connected to the associated controlmodules of any of the control systems 100, 100′, 100″, 100′″, or thecontrol system including row network 132′ described herein. Asillustrated, the additional drive module is preferably connected to theremainder of the control system by an electrical connector 2050.

The additional drive module 300 may comprise a granular metering device(e.g., driven by an electric motor as described below), a valve (e.g., aliquid flow control valve or butterfly valve), a pump (e.g., avariable-rate pump), or any other device suitable for varying the rateof application of a secondary crop input.

In some embodiments, the additional drive module 300 drives the meteringapparatus at a drive speed appropriate to meter the crop input at apredefined application rate (e.g., measured in pounds per acre). Forexample, the drive speed is preferably selected based on the implementspeed in order to meter crop input at the predefined application rate.In some embodiments, the drive speed may be selected based on therow-specific speed Sr of the row unit, which may be calculated asdescribed herein. In some embodiments, the predefined application ratecomprises a prescription map which varies the desired application rateat various locations in the field; in such embodiments, the controlsystem preferably compares the current location reported by the GPSreceiver 166 to the prescription map in order to identify the predefinedapplication rate.

Turning to FIGS. 20-22, one such row unit embodiment including anadditional drive module 300 for metering an additional crop input isillustrated. The drive module 300 preferably drives a metering apparatussuch that the additional crop input is metered from a storage apparatusto the soil. Referring to FIG. 22, the metering apparatus preferablycomprises a metering wheel 2010 having a plurality of symmetricallycircumferentially arranged pockets 2012 which, when rotated,sequentially receive crop input from a hopper 2060 and sequentiallydeposit the crop input by gravity into the soil, e.g., via a tube 2040which directs the crop input into the soil. In some embodiments, asensor 2045 (e.g., an optical, electromagnetic or impact-type sensor) indata communication with the monitor 110 and/or the central processor 120may be placed between the metering wheel and the soil (e.g.,incorporated in the tube 2040) and disposed to generate an applicationrate signal related to the application rate of the crop input. In somesuch embodiments, the control system may adjust a drive rate commandedto the drive module 300 such that the application rate indicated by theapplication rate signal approaches a desired application rate (e.g., theapplication rate specified by the prescription map for the currentlocation reported by the GPS receiver). The application rate signal mayadditionally or alternatively be used to report the current applicationrate at one or more row units to the user via the monitor 110 or tocreate a map of as-applied crop input application rate for the field.

Referring to FIGS. 20 and 21, a drive assembly 2000 is illustrated indetail. A housing 2020 is preferably mounted (e.g., bolted asillustrated) to an upper surface of the row unit frame. A cover 2025 isremovably mounted to the housing 2020 (as best illustrated in FIG. 21)in order to shield internal components including a reducing gear 2030.The reducing gear is preferably driven for rotation by the output gear312 (see FIG. 15) of the drive module 300. The reducing gear 2030 ispreferably larger (e.g., has a greater number of gear teeth) than theoutput gear 312 such that the reducing gear rotates more slowly (e.g.,in rotations per minute) than the output gear. The reducing gearpreferably drives a driveshaft 2015 for rotation. The driveshaft 2015 ispreferably fixedly mounted to the reducing gear 2030 at a first end suchthat the driveshaft rotates about the central axis of the reducing gear.The driveshaft 2015 is preferably fixedly mounted to the metering wheelsuch that the driveshaft drives the metering wheel for rotation about athe central axis of the driveshaft.

During a setup phase of operation of the row network 132′, the firstdrive module 300 a receives a signal from the identification powersource 309 and sends a corresponding identification signal to themonitor 110 (and/or the central processor 120) identifying itself as thefirst drive module 300 a. Subsequently, the monitor 110 (and/or thecentral processor 120) preferably sends commands to the first drivemodule 300 a and stores data received from the first drive module 300 abased on the identification signal.

During field operation of the row network 132′, the monitor 110determines which seed meter 530 should be seeding by comparing positioninformation received from the GPS receiver 166 to an application map.The monitor 110 then preferably commands the single-row control module202 to send a desired seeding rate to the drive module associated withthe meter 530 that should be seeding, e.g., the first drive module 300a.

In embodiments in which the input controller 307 comprises a swathcontroller configured to turn a dry or liquid crop input on or off, thefirst drive module 300 a preferably sends a command signal to the inputcontroller commanding the input controller to turn off the associatedinput, e.g., by closing a valve. In embodiments including only a singleseed meter 530 and a single drive module 300 associated with each rowunit, the drive module 300 transmits a first signal (e.g., a highsignal) via the line 311 to the input controller 307 when the drivemodule is commanding the seed meter to plant, and transmits a secondsignal (e.g., a low signal) or no signal when the drive module is notcommanding the seed meter to plant. The line 311 is preferablyconfigured for electrical communication with any one of a plurality ofinput controllers, e.g. by incorporating a standard electricalconnector. The first and second signal are preferably selected tocorrespond to swath commands recognized by any one of a plurality ofinput controllers such that the input controller 307 turns off the cropinput when the seed meter 530 is not planting and turns on the cropinput when the seed meter 530 is planting.

In embodiments in which the input controller 307 comprises a swathcontroller and in which each row unit includes two seed meters 530 andassociated drive modules 300 a, 300 b, the first drive module 300 apreferably receives a signal from the row bus 250 (preferably generatedeither by the single-row control module 202 or the second drive module300 b) indicating whether the second drive module is commanding itsassociated seed meter 530 to plant. The first drive module 300 a thendetermines whether either the first drive module 300 a or 300 b iscommanding either of the seed meters 530 to plant. If neither of thedrive modules 300 a, 300 b are commanding either seed meter to plant,the first drive module 300 a preferably sends a first signal to theinput controller 307 via the line 311. The input controller 307 ispreferably configured to turn off the crop input (e.g., by closing avalve) upon receiving the first signal. If either of the drive modules300 a, 300 b are commanding either seed meter to plant the first drivemodule 300 a preferably sends a second signal (or in some embodiments nosignal) to the input controller 307 such that the input controller doesnot turn off the crop input.

In embodiments in which the input controller 307 comprises a ratecontroller configured to modify the application rate of a dry or liquidcrop input, the monitor 110 (and/or the central processor 120)preferably determines a desired crop input application rate andtransmits a corresponding signal to the input controller.

Components described herein as being in electrical communication may bein data communication (e.g., enabled to communicate informationincluding analog and/or digital signals) by any suitable device ordevices including wireless communication devices (e.g., radiotransmitters and receivers).

The foregoing description is presented to enable one of ordinary skillin the art to make and use the invention and is provided in the contextof a patent application and its requirements. Various modifications tothe preferred embodiment of the apparatus, and the general principlesand features of the system and methods described herein will be readilyapparent to those of skill in the art. Thus, the present invention isnot to be limited to the embodiments of the apparatus, system andmethods described above and illustrated in the drawing figures, but isto be accorded the widest scope consistent with the spirit and scope ofthe appended claims.

1. A control system for an agricultural implement having a plurality ofrow units, comprising: a first drive module mounted to a first row unit,said first drive module varying the application rate of a first cropinput; a second drive module mounted to said first row unit, said seconddrive module varying the speed of an electric motor; a first controlmodule mounted to said first row unit, said first control module indata; communication with said first drive module and said second drivemodule; a second control module mounted to a second row unit; and acentral processor in data communication with said first control moduleand said second control module, said central processor transmitting afirst non-row-specific command to said first control module and saidsecond control module, wherein said first control module determines afirst row-specific command based on said first non-row-specific commandand a first row-specific operating criterion.
 2. The control system ofclaim 1, wherein said first drive module drives a seed meter, andwherein said second drive module drives a seed conveyor.
 3. The controlsystem of claim 1, wherein said first drive module varies theapplication rate of a granular insecticide, wherein said first drivemodule drives an output gear at a variable speed, wherein theapplication rate of said granular insecticide varies directly with saidvariable speed.
 4. The control system of claim 3, wherein said firstdrive module drives a metering device, wherein said metering devicereceives said granular insecticide from an insecticide hopper anddeposits said granular insecticide into a conduit, said conduit guidingsaid granular insecticide into a planting trench opened by the first rowunit.
 5. The control system of claim 4, wherein said second drive moduledrives a seed meter.
 6. The control system of claim 1, wherein saidfirst drive module varies the application rate of a granular fertilizer,wherein said first drive module drives an output gear at a variablespeed, wherein the application rate of said granular fertilizer variesdirectly with said variable speed.
 7. The control system of claim 6,wherein said first drive module drives a metering device, wherein saidmetering device receives said granular fertilizer from a fertilizerhopper and deposits said granular fertilizer into a conduit, saidconduit guiding said granular fertilizer into a planting trench openedby the first row unit.
 8. The control system of claim 7, wherein saidsecond drive module drives a seed meter.
 9. The control system of claim1, wherein said first row-specific criterion comprises a speed of thefirst row unit.
 10. The control system of claim 9, wherein said firstnon-row-specific command comprises an application rate, and wherein saidfirst row-specific command comprises a metering speed.
 11. The controlsystem of claim 10, wherein said second drive module drives a seedconveyor.
 12. The control system of claim 1, wherein said firstrow-specific criterion comprises a location of said first row unit. 13.The control system of claim 1, wherein said first drive module drives aseed meter, wherein said first non-row-specific command comprises anapplication rate, wherein said row-specific criterion comprises a speedof said first row unit, and wherein said second drive module drives asecondary metering apparatus, said secondary metering apparatusdepositing a second crop input at a secondary application rate, saidsecondary application rate varying directly with an operating speed ofsaid electric motor.
 14. The control system of claim 13, wherein saidcentral processor transmits a second non-row-specific command to saidfirst control module and said second control module, wherein said secondcontrol module determines a second row-specific command based on saidsecond non-row-specific command and said first row-specific operatingcriterion, wherein said second row-specific command comprises acommanded speed of said electric motor.
 15. The control system of claim14, wherein said second crop input comprises granular insecticide. 16.The control system of claim 15, wherein said secondary meteringapparatus receives said granular insecticide from an insecticide hopperand deposits said granular insecticide into a conduit, said conduitguiding said granular insecticide into a planting trench opened by thefirst row unit.
 17. The control system of claim 16, wherein saidsecondary metering comprises a metering wheel having a plurality ofcircumferentially arranged pockets, said pockets sequentially receivingsaid granular insecticide from said hopper as each pocket passes anoutlet of said hopper, said pockets sequentially depositing saidgranular insecticide by gravity into said conduit.
 18. The controlsystem of claim 14, wherein said second crop input comprises fertilizer.19. The control system of claim 13, wherein said second crop inputcomprises granular insecticide.
 20. The control system of claim 13,wherein said second crop input comprises fertilizer.